Chapter Two

Mathematical modeling of physical systems

Prepared by Tarekegn.L (MSc in Sustainable Energy Engineering)

 Mathematical modeling of physical systems
The control systems can be represented with a set of mathematical equations known as
mathematical model.
These models are useful for analysis and design of control systems. Analysis of control
system means finding the output when we know the input and mathematical model.
Design of control system means finding the mathematical model when we know the
input and the output.
The following mathematical models are mostly used.
– Differential equation model
– Transfer function model and
– State space model
Differential equation model is a time domain math model of control
system. The basic step is
– Apply the basic laws to the given control system
– Get the differential equation in terms of input and output
• Differential equation modeling of mechanical systems examples.
 Contd…
Various types of physical systems are

Mechanical systems,
Electrical systems
Thermal systems
Hydraulic systems
Chemical system etc.,
 Mathematical Model

 A mathematical model is a set of equations (usually differential equations) that

represents the dynamics of systems.

In practice, the complexity of the system requires some

assumptions in the determination model.

How do we obtain the equations?

 Physical law of the process
 Examples:

– Mechanical system (Newton’s laws)

– Electrical system (Kirchhoff’s laws)
 Basic Types of Mechanical Systems
Translational
Linear Motion

Rotational
Rotational Motion
Translational Mechanical Systems

These systems mainly consist of three basic elements.

Mass,

 spring and

 dashpot or damper.
Basic Elements of Translational Mechanical Systems

Translational
Spring
i)

Translational Mass
ii)

Translational
iii) Damper
 Translational Spring
A translational spring is a mechanical element that can be deformed by
an external force such that the deformation is directly proportional to the
force applied to it.

Translational
Spring
i)

Circuit Symbols
Translational Spring
 Translational Mechanical Systems
spring is an element, which stores potential energy.
 Translational Spring
If F is the applied force

Then is the deformation if

Or is the deformation.

The equation of motion is given as

Where is stiffness of spring expressed in N/m

 Translational Spring

Given two springs with spring constant k1 and k2, obtain the
equivalent spring constant keq for the two springs connected in:

(1) Parallel (2) Series

 Translational Spring
• The two springs have same displacement therefore:

(1) Parallel

• If n springs are connected in parallel then:

 Translational Spring
• The forces on two springs are same, F, however displacements
are different therefore:
(2) Series

• Since the total displacement is , and we have

 Translational Spring

• Then we can obtain

• If n springs are connected in series then:

 Translational Spring
Exercise: Obtain the equivalent stiffness for the following spring networks. ASS-III

i)

ii)
 Translational Mass
Translational
ii) Mass

• Translational Mass is an inertia element.

• A mechanical system without mass does

not exist.

• If a force F is applied to a mass and it is

displaced to x meters then the relation
M
b/w force and displacements is given by
Newton’s law.
 Translational Mechanical Systems……

Dash Pot:If a force is applied on dashpot B, then it is opposed by an

opposing force due to friction of the dashpot. This opposing force is
proportional to the velocity of the body. Assume mass and elasticity
are negligible.
 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension
 Translational Damper

• Where ( B or C) is damping coefficient (N/ms-1).

• N:B the coefficient of dashpot d/t reference book
used d/t symbolized methods either ( B or C) no
matter what ever its but used it in given manner.
 Rotational Mechanical Systems
These systems mainly consist of three basic elements. Those are
moment of inertia, torsional spring and dashpot.
 Moment of Inertia
In translational mechanical system, mass stores kinetic energy.
Similarly, in rotational mechanical system, moment of inertia stores
kinetic energy.

Where,
• T is the applied torque
• Tj is the opposing torque due to moment of
inertia
• J is moment of inertia
• α is angular acceleration
• θ is angular displacement
 Rotational Mechanical Systems…
Torsional Spring:
In translational mechanical system, spring stores potential energy.
Similarly, in rotational mechanical system, torsional spring stores
potential energy.

 Where,
• T is the applied torque
• Tk is the opposing torque due to
elasticity of torsional spring
• K is the torsional spring constant
• θ is angular displacement
 Rotational Mechanical Systems….
Dashpot
If a torque is applied on dashpot B, then it is opposed by an
opposing torque due to the rotational friction of the dashpot.

 Where,
• Tb is the opposing torque due to the rotational
friction of the dashpot
• B is the rotational friction coefficient
• ω is the angular velocity
• θ is the angular displacement
 Mathematical Model of Electrical System
 The mathematical model of electrical systems can be obtained by
using resistor, capacitor and inductor.
 Mathematical Model of Electrical Systems..contd
The following mathematical models are mostly used.
Differential equation model
 Transfer function model
 State space model
Example: RLC Circuit

Mesh equation for this circuit is

The above equation is a second order differential equation.

 Analogous Systems
 Electrical Analogous of mechanical Translational System:
As the electrical systems has two types of inputs either voltage or current source.
There are two types of analogies .
•Force- Voltage analogy
•Force- Current analogy
 Force-Voltage Analogy (Loop Analysis)

Thus, in case of force-voltage analogy, the points given below are

to be necessarily taken into consideration. These are as follows:
• The elements present in series in mechanical system possess
the same velocity. Likewise, the serially connected elements in
the electrical network have the same current.
• Each existing mass in the mechanical system corresponds to a
separate node in it and represents a separate closed loop in the
electrical network.
• Also, the number of meshes in the electrical system is
equivalent to the number of masses in a mechanical system.
• The elements existing between two masses in the mechanical
system represents common elements between two meshes of
the electrical system.
Force-Current Analogy (Node Analysis)
 Force-Current Analogy (Node Analysis)
Now, let us have a look at the important points to be kept in
mind while converting a mechanical system into an electrical
network. These are as follows:
• The parallel combination of masses in the mechanical system
have similar force, likewise, the parallel combination of
elements in the electrical network has the same voltage across
them.
• Each separate mass of the mechanical system corresponds to a
separate node in the electrical network.
• So, the number of nodes in the electrical network is equivalent
to the number of masses present in the mechanical system.
• Like in force-voltage analogy, here also, the number of
components in between two separate masses in the mechanical
system is also commonly connected in the electrical network
between two separate nodes.
The End for chapter -2